Method and device for autonomously searching for and massaging Fengchi acupoint based on PCL point cloud library

Abstract

The invention relates to the technical field of acupoint massagers, and discloses a method and device for autonomously searching for and massaging a Fengchi acupoint based on a PCL point cloud library, and the method comprises the following steps: obtaining a half d of the width of four fingers of a palm of a to-be-massaged person; wherein the rear part of a person lying or inline head leans against equipment, scans scanning the central axis of the rear head and identifying the lowest point of the central axis of the afterbrain; enabling the X-axis of equipment to move to the lowest point of the central axis of the afterbrain of the person, enabling the Y-axis to move by half of the width d of the four fingers of the palm in the left ear direction, and locating a scanning head of the equipment under the Fengchi acupoint vertical equipment and is the coordinate point of the Fengchi acupoint. The accurate position of the wind pool acupoint is calculated through point cloud surface curvature solving in the PCL point cloud library and a specified normal vector solving function, the defect that no equipment capable of accurately and autonomously searching the wind pool acupoint and massaging exists on the market at present is effectively overcome, the wind pool acupoint can be accurately positioned, the normal vector of the wind pool acupoint can be given. The massage head can directly massage the Fengchi acupoint by being perpendicular to local skin.

Description

technical field [0001] The invention relates to the technical field of acupoint massagers, in particular to a method and device for independently searching and massaging Fengchi acupoints based on a PCL point cloud database. Background technique [0002] Fengchi point is also known as Refu point. It is located on both sides of the big tendon behind the forehead and parallel to the earlobe. The internal massager can perform intelligent electric massage on Fengchi point and other related points. However, massagers generally do not have the function of automatically finding Fengchi acupoint. Massagers need to observe the position of Fengchi acupoint with their own eyes to adjust the equipment. The error is very large, and it is difficult to guarantee the accuracy of massaging the Fengchi acupoint. Therefore, a method and device for independently finding and massaging the Fengchi acupoint based on the PCL point cloud database are proposed to solve the above problems. Contents...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the deficiencies in the use of the existing acupoint massager proposed in the background technology, the present invention provides a method and device for independently finding and massaging Fengchi acupoint based on the PCL point cloud database, which is capable of autonomously finding Fengchi acupoint and Advantages of local skin massage at vertical acupoints, solving the problems raised in the background art above

Images